CN109733336B - Convection type intelligent purging system and method for single-side track - Google Patents
Convection type intelligent purging system and method for single-side track Download PDFInfo
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- CN109733336B CN109733336B CN201910153152.8A CN201910153152A CN109733336B CN 109733336 B CN109733336 B CN 109733336B CN 201910153152 A CN201910153152 A CN 201910153152A CN 109733336 B CN109733336 B CN 109733336B
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Abstract
The invention discloses a convection type intelligent purging system for a single-side track, which comprises an air supply system, a mobile purging system and an air exhaust dust removal system; the mobile purging system comprises an electromagnetic guidance AGV trolley of a bottom mobile purging robot, the electromagnetic guidance AGV trolley runs along electromagnetic guidance metal cables preset on two sides of a vehicle track of an inspection pit, and a multi-section dust removing unit is arranged on the opposite side to form a convection channel. The invention can quickly and efficiently remove the dust of the vehicle, improve the operation environment in the purging warehouse, realize the purging of the vehicle bottom and the vehicle side of the rail transit vehicle, and the electromagnetic guiding mode has hidden lead wires, is not easy to pollute and damage, can expand or change the purging path according to the purging requirement of the vehicle when the type and the marshalling length of the purging vehicle change, and has the advantages of accurate positioning, higher flexibility and convenient disassembly and assembly; convection type blowing and sucking, compact overall layout structure, small occupied space and higher blowing and sucking efficiency.
Description
Technical Field
The invention belongs to the technical field of rail transit vehicle purging, and particularly relates to a convection type intelligent purging system and method for a single-side rail.
Background
Along with the rapid development of national economy, people travel and traffic are more frequent, and the requirements on rapidness and convenience of service are also higher. In order to adapt to and promote the development of the industry, rail transit presents blowout type development as a novel traffic mode. Accordingly, higher requirements are put on the safety of the operation and maintenance of rail transit vehicles.
In the running process of the rail transit vehicle, because a lot of dust can be generated due to friction between wheels and the rails, the dust is adsorbed on the surface of electric equipment at the bottom of a train to cause some electric faults, in order to ensure the running safety of the vehicle, the top and the bottom of the vehicle body are required to be timely dedusted regularly, if the dedusting is not timely carried out, the vehicle faults can be caused when serious except the influence on the performance and the service life of the vehicle, and traffic accidents are caused.
At present, the operation of purging electric parts at the bottom of a vehicle in a domestic rail transit vehicle maintenance place is mainly completed by means of manual cleaning or automatic purging through a mechanical arm and combining manual repairing. When the vehicle type to be purged and the grouping length are changed, the traveling path of the AGV cannot be quickly expanded and changed in time, so that the requirement of purging operation cannot be met.
At present, a simple purging station is arranged in a part of domestic railway traffic vehicle overhauling places, but only dust removal and purging are carried out on parts such as a bogie at the bottom of a vehicle. However, in the long-time actual operation process of the rail transit vehicle, a large amount of dust and dirt can be accumulated on the air conditioning filter screen at the top of the vehicle and the folds of the through channels, if the rail transit vehicle is purged irregularly, hidden dangers of electrical faults are caused, and the normal operation of the vehicle can be threatened.
At present, the purging operation of the overhauling places of the domestic rail transit vehicles is mostly manual blowing dust collection, the purging area is small, the purging efficiency is low, the thorough abnormal situation cannot be found, the labor intensity of purging operation personnel is high, and secondary pollution is caused by uncertainty of manual operation.
The existing dust absorption units are arrayed in the factory building, all the dust absorption units are uniformly controlled to be opened after the purging operation is started, and a large wind field is formed, but in the area without manual or mechanical arm operation, dust is not purged, the dust absorption effect of the dust absorption units is limited, a large amount of energy sources are wasted, and mechanical noise of rolling in the factory building is caused.
In addition, because equipment such as a bogie at the bottom of a vehicle is extremely irregular in distribution and shape, the flying path of dust generated during actual purging operation is also extremely irregular, and the purging station is difficult to form a relatively closed space in consideration of the requirement of vehicle limit, so that the dust is difficult to collect during purging operation.
Disclosure of Invention
Aiming at least one of the defects or the improvement demands of the prior art, the invention provides a convection type intelligent purging system and method for a single-side track, which are used for reasonably designing a vehicle purging system and carrying out omnibearing purging process layout on a purging warehouse, thereby realizing three-dimensional omnibearing purging of the vehicle bottom, the vehicle side and the vehicle roof of a rail transit vehicle.
To achieve the above object, according to one aspect of the present invention, there is provided a convection type intelligent purge system for a single-side rail, characterized in that: comprises an air supply system, a mobile purging system and an air exhaust and dust removal system;
the mobile purging system at least comprises a bottom mobile purging robot, wherein the bottom mobile purging robot walks on one side of a vehicle track of a columnar inspection pit of a rail transit vehicle purging workshop;
the bottom mobile purging robot comprises a movable mechanism and an executing mechanism; the movable mechanism of the bottom movable purging robot comprises an electromagnetic guiding AGV trolley, and the electromagnetic guiding AGV trolley runs along an electromagnetic guiding metal cable preset at one side of a vehicle track of the inspection pit; the actuating mechanism comprises a mechanical arm with multiple degrees of freedom;
the exhaust dust removal system is connected to the operation area of the bottom mobile purging robot through a pipeline; the exhaust dust removing system comprises multi-section dust removing units which are longitudinally distributed and arranged along a vehicle rail at the bottom of the purging workshop, and are respectively positioned in an inspection pit at the bottom of the vehicle and the other side of the vehicle rail of the inspection pit opposite to the electromagnetic guided AGV; the exhaust dust removal system further comprises a longitudinally extending sealing block, and a purging airtight space is formed between the vehicle body and the ground;
the air supply system is connected with the bottom mobile purging robot through a flexible pipeline and supplies high-pressure air to the bottom mobile purging robot.
Preferably, the mobile purging system further comprises at least one top mobile purging robot, wherein the top mobile purging robot walks on the top and roof areas of the rail transit vehicle purging workshop;
the top mobile purging robot comprises a movable mechanism and an executing mechanism; the movable mechanism of the top movable purging robot comprises an inverted AGV trolley which is connected with a hanger at the top of a purging workshop through a fixed track; the actuating mechanism comprises a mechanical arm with multiple degrees of freedom;
the exhaust dust removal system is connected to the operation area of the top mobile purging robot through a pipeline; the exhaust dust removing system also comprises a plurality of sections of dust removing units which are longitudinally distributed and arranged along the vehicle track at the top of the purging workshop; the blocking also forms a purging airtight space between the vehicle body and the hanging bracket;
the air supply system is connected with the top movable purging robot through a flexible pipeline and provides high-pressure air for the top movable purging robot.
Preferably, the AGV trolley of the bottom mobile purging robot and the AGV trolley of the top mobile purging robot comprise a trolley body, the multi-degree-of-freedom mechanical arm is arranged on the trolley body and comprises a large arm, a small arm, a high-pressure air knife and an industrial camera, wherein the large arm, the small arm, the high-pressure air knife and the industrial camera are sequentially connected, and purging and image acquisition are carried out on vehicle components, vehicle bottoms, vehicle sides and vehicle tops.
Preferably, the multi-stage dust removing unit comprises a plurality of dust collecting openings; the exhaust dust removing system also comprises a dust collector, an exhaust pipeline and a dust remover;
the dust collector is arranged at the rear of the dust collection opening, and the dust remover is arranged outside a sweeping workshop of a rail transit vehicle and is communicated with the dust collection opening through the exhaust pipeline.
Preferably, the dust collection port comprises a top dust collection port arranged on a hanger at the top of the purging workshop, a lateral dust collection port arranged on the other side of the inspection pit vehicle track opposite to the electromagnetic guided AGV trolley, and a bottom dust collection port arranged at the bottom of the inspection pit.
Preferably, the dust collection ports are internally provided with multi-section butterfly valves which can be respectively and independently opened and closed, and the butterfly valves of the corresponding dust collection ports are opened and the butterfly valves of the other areas are closed along with the movement of the bottom movable purging robot and the top movable purging robot.
Preferably, the air supply system comprises an air compressor, an air dryer, a main air cylinder pipeline, a pressure switch and a safety valve;
wherein the air compressor converts mechanical energy of the prime mover into gas pressure energy to provide compressed air;
the air dryer is used for removing harmful impurities including oil water, moisture and dust in the compressed air;
the main air cylinder is a pressure container for storing compressed air for vehicle purging;
the pressure switch is arranged in the main air cylinder pipeline and used for detecting the pressure of the main air cylinder and converting a total air pressure signal into a switch signal of the air compressor control circuit so as to control the start and stop of the air compressor;
the safety valve is used for automatically opening and closing according to working pressure to protect the safety of the air supply system.
Preferably, a guiding frequency is loaded on the electromagnetic guiding metal cable, and the electromagnetic guiding AGV trolley of the bottom mobile purging robot realizes the guiding of the AGV through the identification of the guiding frequency;
if the model and the grouping length of the vehicle to be purged are changed, the electromagnetic guiding metal cable can expand or change the purging path through the change of the length and the direction.
To achieve the above object, according to another aspect of the present invention, there is also provided a method for purging a convection type intelligent purging system for a single-sided rail as described above:
the rail transit vehicle enters a purging area of a purging workshop;
the AGV trolley in the bottom mobile purging robot and the AGV trolley in the top mobile purging robot longitudinally walk along the vehicle track, and the mechanical arm performs multi-degree-of-freedom motion to purge the vehicle;
when the AGV trolley and the mechanical arm in the bottom mobile purging robot and the top mobile purging robot work to a certain area, the butterfly valve of the dust collection port of the area is opened under the control of the PLC, and the butterfly valves of other areas are closed; at the moment, negative pressure is generated after the dust collector works, dust-containing gas purged by the mechanical arm is sucked into the exhaust pipeline through the dust collection port, the gas carrying dust enters the dust remover outside the purging chamber through the exhaust pipeline, large-particle dust is filtered and collected through the air outlet and falls into the collecting container, and clean air is directly discharged from the air outlet, so that dust-free leakage is realized;
the AGV trolley and the mechanical arm in the bottom mobile purging robot and the top mobile purging robot continue to purge the next area, and as the operation position changes, the butterfly valve of the corresponding dust collection port is sequentially opened and the rest of butterfly valves are closed, so that the dust collection port works in a sequentially opened/closed mode until the whole carriage is purged.
Preferably, the AGV trolley in the bottom moving purging robot and the lateral dust collection opening and the bottom dust collection opening in the same area where the mechanical arm passes through are synchronously opened and closed through respective butterfly valves;
further, the top movable purging robot and the bottom movable purging robot synchronously advance up and down in the longitudinal direction of the track, and a top dust collection opening, a lateral dust collection opening and a bottom dust collection opening in the same area where the AGV trolley and the mechanical arm pass through are synchronously opened and closed through respective butterfly valves; or the top movable purging robot and the bottom movable purging robot independently advance up and down in the longitudinal direction of the track, and the top dust collection port, the lateral dust collection port below and the butterfly valve of the bottom dust collection port are mutually independently opened and closed.
The above-described preferred technical features may be combined with each other as long as they do not collide with each other.
In general, the above technical solutions conceived by the present invention have the following beneficial effects compared with the prior art:
1. according to the electromagnetic guide single-side rail-based convection type intelligent purging system, the vehicle purging system is reasonably designed, the purging stations of the purging warehouse are subjected to three-dimensional omnibearing layout, the dust of vehicles is rapidly and efficiently removed, the operation environment in the purging warehouse is improved, the intellectualization of three-dimensional omnibearing purging operation of the bottom, the side and the top of a rail transit vehicle is realized, a smooth convection channel for blowing on one side and sucking on the other side is formed at the bottom, dust, greasy dirt, rust and the like on the surfaces of the bottom and the side of the vehicle can be cleaned, filter screens of roof air conditioners and through-channel folds can be cleaned, the installation positions of all components can be cleaned, and the requirements of appearance inspection and component installation in the next step are met.
2. According to the convection type intelligent purging system based on the electromagnetic guide unilateral track, through the structure of the mobile purging robot, particularly the electromagnetic guide AGV trolley, manual operation of a blowing gun is not needed, the labor intensity is low, the purging efficiency is high, a lead is hidden, pollution and damage are not easy to occur, the guiding principle is simple and reliable, control and communication are convenient, no interference is caused to sound and light, the manufacturing cost is low, and when the type and marshalling length of a purging vehicle are changed, the purging path can be expanded or changed according to the purging requirement of the vehicle, so that the system has the advantages of being accurate in positioning, high in flexibility and convenient to disassemble and assemble.
3. According to the electromagnetic guide single-side rail-based convection type intelligent purging system, electromagnetic induction metal cables are arranged on one side of a vehicle, dust collection units are arranged on the opposite side and the bottom of the vehicle, convection type blowing and sucking are carried out, the overall layout structure is compact, the occupied space is small, and the purging efficiency is high. Meanwhile, in the purging operation process, the purging dust forms two longitudinal flowing fields which are not interfered with each other, so that the subsequent dust collection treatment is convenient.
4. According to the convection type intelligent purging system based on the electromagnetic guide unilateral track, through the structure of the multi-section type dust removing units longitudinally distributed and arranged on the vehicle track, particularly the multi-section type butterfly valve structure capable of being independently opened and closed in the multi-section type dust collecting ports, as the mobile purging robot moves, the butterfly valve of the corresponding dust collecting port is opened, the butterfly valve of the other area is closed, the operation of the purging area of the mobile purging robot is fully matched, the purging wind field is considered, dust collection and dust removal of the area can be completed only by the dust collecting ports in a preset range, the dust collecting units in other non-operation areas do not participate in dust collection, the environmental noise of a large number of dust collectors is reduced, a large number of energy sources are saved, the working time of equipment is reduced, the service life is prolonged, the dust collecting ports are sequentially opened and closed, dust removing energy is focused on operation hot spots, dust is directionally discharged according to a planned shortest path, and the dust removing effect is greatly effectively improved.
5. According to the electromagnetic guide single-side rail-based convection type intelligent purging system, through the layout design of the dust collection openings, particularly, the array dust collection openings are arranged on the two sides of a vehicle rail of an inspection pit and at the bottom of the inspection pit, and the AGV trolley and the mechanical arm in the mobile purging system move along with the movement of the AGV trolley and the mechanical arm, and are synchronously opened and closed through respective butterfly valves, the efficiency loss of a dust collection unit closed in a non-working area is compensated, the dust collection effect of the working area is enhanced, and the integral purging requirement is met.
Drawings
FIG. 1 is a schematic diagram of the composition of an electromagnetic guided single-sided track based convection intelligent purge system of the present invention;
FIG. 2 is a schematic overall layout (top view) of the electromagnetic guided single side rail based convection intelligent purge system of the present invention;
FIG. 3a is a front view of a purge shop (bottom mobile purge robot embodiment) of the electromagnetic guided single side rail based convection intelligent purge system of the present invention;
FIG. 3b is a front view of a purge shop (bottom mobile purge robot combined with top purge robot embodiment) of the electromagnetic guided single side rail based convection intelligent purge system of the present invention;
FIG. 4 is a schematic diagram (side view) of an exhaust dust removal system of the convection intelligent purge system based on electromagnetic guided unilateral rail of the present invention;
FIG. 5 is a schematic view of a portion of an exhaust dust removal system of a convection intelligent purge system based on electromagnetic guided unilateral rails of the present invention;
FIG. 6 is a schematic diagram of a bottom mobile purge robot of the convection intelligent purge system of the present invention based on electromagnetic guided single-sided tracks;
FIG. 7 is a schematic diagram of a top mobile purge robot of the convection intelligent purge system of the invention based on electromagnetic guided single-sided tracks.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other. The present invention will be described in further detail with reference to the following embodiments.
As shown in fig. 1-5, the electromagnetic guiding single-side rail-based convection type intelligent purging system integrally comprises an air supply system 1, an electrical control system 2, a mobile purging system 3 and an air exhaust and dust removal system 4. The intelligent purging system is in a purging room in a totally enclosed mode and is connected with the air supply system 1 and the air exhaust dust removal system 4 through air supply and exhaust pipelines. The purging chamber consists of a main body, a gate, a lighting device, a floor grid, a safety gate, a blocking and the like, and forms a closed space for purging operation.
The air supply system 1 (see fig. 2) mainly comprises an air compressor, an air dryer, a main air cylinder pipeline, a pressure switch, a safety valve and the like. The air compressor is a main body of an air source device, which is a device for converting mechanical energy of a prime mover (usually an electric motor) into air pressure energy, and is an air pressure generating device for compressing air. The air dryer is a compressed air dehumidifying device and is used for removing harmful impurities such as oil water, moisture, dust and the like in compressed air. The total reservoir is a pressure vessel for storing compressed air for a vehicle. The device is mainly used for supplementing air when leakage and inflation can be found in time, and the wind requirement of a system can be met in time. The pressure switch is an electric appliance conversion element for opening and closing an electric shock by utilizing the pressure of compressed air. The pressure switch is arranged near the total air cylinder, detects the pressure of the total air cylinder, and converts the total air pressure signal into a switch signal of the air compressor control circuit so as to control the start and stop of the air compressor. The safety valve can be automatically opened and closed according to working pressure, and is arranged on equipment or a pipeline of the closed system to protect the safety of the system. When the pressure in the equipment or the pipeline exceeds a specified value, the pressure relief is automatically started, so that the pressure of the medium in the equipment and the pipeline is ensured to be within the specified value, and accidents are prevented. The air supply system is used for conveying high-pressure air to a high-pressure nozzle of a multi-degree-of-freedom mechanical arm in the mobile purging system through a pipeline for providing high pressure, and the formed air knife is used for cleaning the surfaces of the vehicle body and the components.
Preferably, the electrical control system 2 is composed mainly of a meter control system and a computer monitoring system for operating and monitoring the operation of the device. The instrument control system is responsible for collecting temperature signals and gas pressure signals of all sections of the site, and meanwhile, the temperature control meter of each section outputs 4-20mA current signals according to the set temperature value to drive the air conditioning valve of each section of the site, so as to achieve the function of controlling the temperature; the computer monitoring system performs RS485 communication with the control instrument through the PLC, acquires signals of real-time temperature of each section, opening degree of each section of air regulating valve, gas pressure and the like, and records the signals at regular time. When the air supply system and the mobile purging system have overtemperature and overtemperature caused by short circuit, open circuit or electric leakage, the temperature and the pressure at each position can be displayed in the instrument control system, and an alarm buzzer on the panel can work, flash and generate beeping sounds to remind workers of reasonably adjusting the device.
The mobile purge system 3 comprises a bottom mobile purge robot 31 (as shown in fig. 3 a), preferably also used in combination with a top mobile purge robot 32 (as shown in fig. 3 b), the bottom mobile purge robot 31 walking on the vehicle track side of the rail transit vehicle purge workshop column inspection pit, and the top mobile purge robot 32 walking on the top, roof area of the rail transit vehicle purge workshop. The mobile purging system 3 at least comprises one bottom mobile purging robot 31 (a plurality of vehicles which can work simultaneously and are not shown can be longitudinally arranged on the same side) and is positioned on the same side of the vehicle 10 rail of the columnar inspection pit of the rail transit vehicle purging workshop; at least one of the top mobile purge robots 32 (two as shown in fig. 3 b) is also included. The bottom mobile purge robot 31 and the top mobile purge robot 32 each include a movable mechanism and an actuator; the movable mechanism of the bottom movable purging robot 31 comprises an electromagnetic guiding AGV trolley, and the electromagnetic guiding AGV trolley runs along electromagnetic guiding metal cables 34 which are stuck and installed on two sides of a vehicle track of an inspection pit; the electromagnetic guiding metal cable 34 is loaded with guiding frequency, and the electromagnetic guiding AGV trolley of the bottom mobile purging robot 31 realizes the guiding of the AGV through the identification of the guiding frequency; if the model and the marshalling length of the vehicle to be purged are changed, the electromagnetic guide metal cable 34 stuck on the ground can expand or change the purging path through the change of the length and the direction; the movable mechanism of the top movable purging robot 32 comprises an inverted AGV trolley which is connected with a hanger 33 at the top of the purging workshop through a fixed track; the actuating mechanism comprises a mechanical arm with multiple degrees of freedom. The fixed track preferably includes a transverse track in addition to the substantially longitudinal track to facilitate a mobile purge in the transverse direction of the roof. As shown in fig. 6-7, the AGV carriages of the bottom mobile purge robot 31 and the top mobile purge robot 32 each include a carriage body 315, and the multi-degree-of-freedom mechanical arm is disposed on the carriage body 315 and includes a large arm 314, a small arm 313, a high-pressure air knife 311 and an industrial camera 312 which are sequentially connected, and performs purge and image acquisition for vehicle components, vehicle bottom, vehicle side, and vehicle top. The multi-degree-of-freedom mechanical arm is provided with the high-pressure air knife, the high-pressure air knife is installed on the multi-degree-of-freedom mechanical arm through screw connection, high-pressure air entering from one side is sprayed out from the flat nozzle opening to form an air knife surface, the knife surface sweeps the surface of a part to be purged of the vehicle body, attached dust, dirt, rust and the like can be effectively removed, and the vehicle is purged specifically for complex parts (such as a vehicle wheel set 12 in fig. 2 and 4), the bottom of the vehicle and the side of the vehicle, so that preconditions are provided for next overhaul work. The mechanical arm can reach the operation blind area which cannot be reached by the purging operator, and the work which is difficult to operate by the operator is completed, so that the mechanical arm can linearly stretch and retract and swing in a plane and rotate in a space. According to the requirement of the purging operation and the vehicle limit 11, the mechanical arm can expand and also has the side purging effect due to the advantages of the mechanical arm, such as the mobility and the retractility. According to the convection type intelligent purging system based on the electromagnetic guide unilateral track, through the structure of the mobile purging robot, particularly the electromagnetic guide AGV trolley, manual operation of a blowing gun is not needed, the labor intensity is low, the purging efficiency is high, a lead is hidden, pollution and damage are not easy to occur, the guiding principle is simple and reliable, control and communication are convenient, no interference is caused to sound and light, the manufacturing cost is low, and when the type and marshalling length of a purging vehicle are changed, the purging path can be expanded or changed according to the purging requirement of the vehicle, so that the system has the advantages of being accurate in positioning, high in flexibility and convenient to disassemble and assemble.
The exhaust dust removing system 4 (see fig. 1-5) comprises a plurality of sections of dust removing units which are longitudinally distributed and arranged along the vehicle track at the bottom of the purging workshop and are respectively positioned in an inspection pit at the bottom of the vehicle and at the other side of the vehicle track of the inspection pit opposite to the electromagnetic guided AGV; preferably, the exhaust dust removing system 4 further comprises a plurality of sections of dust removing units which are longitudinally distributed and arranged along the vehicle track at the top of the purging workshop; as the operation positions of the bottom and top mobile purge robots 31 and 32 are changed, the air channels of the respective dust removing units are opened and the rest are closed. The multi-section dust removing unit comprises a plurality of dust collecting openings with diameters ranging from 100 mm to 400 mm; the exhaust dust removing system 4 also comprises a dust collector 43, an exhaust pipeline 44 and a dust remover 45. The dust collector 43 is arranged behind the dust collection opening, the dust remover 45 is arranged outside the sweeping workshop of the rail transit vehicle, and is communicated with the dust collection opening through the exhaust pipeline 44. The dust collection ports include a top dust collection port 40 on a hanger 33 on the top of the purge shop, a lateral dust collection port 41 on the opposite side of the inspection pit vehicle track from the electromagnetic guided AGV cart, and a bottom dust collection port 42 on the bottom of the inspection pit. The dust collection ports are internally provided with multi-section butterfly valves which can be respectively and independently opened and closed, and the butterfly valves of the corresponding dust collection ports are opened and the butterfly valves of other areas are closed along with the movement of the bottom mobile purging robot 31 and the top mobile purging robot 32. Preferably, the exhaust and dust removal system 4 further comprises longitudinally extending seals 48, as shown in fig. 3a-b, respectively located on two sides of the bottom and two sides of the top of the vehicle 10, between the mounting table of the lower seal and the lateral dust collection opening 41 and the vehicle body, and between the upper seal and the top hanger 33 and the vehicle body, a purging airtight space is formed to prevent dust from scattering.
According to the electromagnetic guide single-side rail-based convection type intelligent purging system, through the layout design of the dust collection openings, particularly, the array dust collection openings are arranged on the two sides of a vehicle rail of an inspection pit and at the bottom of the inspection pit, and the AGV trolley and the mechanical arm in the mobile purging system move along with the movement of the AGV trolley and the mechanical arm, and are synchronously opened and closed through respective butterfly valves, the efficiency loss of a dust collection unit closed in a non-working area is compensated, the dust collection effect of the working area is enhanced, and the integral purging requirement is met. Specifically, the dust collection ports are multi-section butterfly valves which can be opened and closed respectively, and the corresponding dust collection ports are opened and the rest are closed along with the change of the operation positions. The dust collector is a high-power air compressor and is arranged under the dust collection opening and on two sides of the vehicle body, and the dust collection opening is opened and closed by controlling the opening and closing of the butterfly valve through the PLC (as a PLC circuit board 47 of the control butterfly valve in fig. 4), so that the function of collecting dust-containing gas after the mechanical arm is purged is achieved. The dust collection port is opened and closed in sequence, so that dust collection energy can be focused on a working hot spot, dust is discharged in a directional mode according to a planned shortest path, and a dust collection effect is effectively improved. The exhaust pipeline is divided into a plurality of independent units to realize sectional exhaust so as to reduce energy consumption and noise. The dust collector 45 includes a dust collector 43 at the bottom and a dust collector 46 at the top, separates and captures dust particles by means of hydraulic wetting, and when the purging operation is performed, the negative pressure air carrying dust gas enters the dust collector connected to the outside of the purging chamber through an exhaust pipe to perform filtering treatment. The operation flow of air exhaust and dust removal is as follows: when the AGV trolley and the mechanical arm in the mobile purging system work in the area, the control butterfly valve is opened, the exhaust dust removing system works, negative pressure is generated after the dust collector works, dust-containing gas after the mechanical arm is purged is sucked into the exhaust pipeline through the dust suction opening, dust-carrying gas enters the dust collector outside the purging room through the exhaust pipeline, large-particle dust is filtered and collected through the air outlet and falls into the collecting container, clean air is directly discharged from the air outlet, and dust-free leakage is truly realized. According to the convection type intelligent purging system based on the electromagnetic guide unilateral track, through the structure of the multi-section type dust removing units longitudinally distributed and arranged on the vehicle track, particularly the multi-section type butterfly valve structure capable of being independently opened and closed in the multi-section type dust collecting ports, as the mobile purging robot moves, the butterfly valve of the corresponding dust collecting port is opened, the butterfly valve of the other area is closed, the operation of the purging area of the mobile purging robot is fully matched, the purging wind field is considered, dust collection and dust removal of the area can be completed only by the dust collecting ports in a preset range, the dust collecting units in other non-operation areas do not participate in dust collection, the environmental noise of a large number of dust collectors is reduced, a large number of energy sources are saved, the working time of equipment is reduced, the service life is prolonged, the dust collecting ports are sequentially opened and closed, dust removing energy is focused on operation hot spots, dust is directionally discharged according to a planned shortest path, and the dust removing effect is greatly effectively improved.
The invention discloses a blowing method of a convection type intelligent blowing system based on an electromagnetic guide unilateral track, which is introduced as follows:
the rail transit vehicle enters a purging area of the purging workshop.
AGV dollies in the bottom mobile purge robot 31 and the top mobile purge robot 32 travel longitudinally along the vehicle track, and the robot arm performs multi-degree-of-freedom motions to purge the vehicle.
When the AGV trolley and the mechanical arm in the bottom mobile purging robot 31 and the top mobile purging robot 32 work to a certain area, the butterfly valve of the dust collection port of the area is opened under the control of the PLC, and the butterfly valves of other areas are closed; at this time, the vacuum cleaner 43 works to generate negative pressure, the dust-containing gas purged by the mechanical arm is sucked into the exhaust pipeline 44 through the dust suction port, the gas carrying dust enters the dust remover 45 outside the purging chamber through the exhaust pipeline 44, the large-particle dust is filtered and collected through the air outlet and falls into the collecting container, and clean air is directly discharged from the air outlet, so that dust-free leakage is realized.
The AGV trolley and the mechanical arm in the bottom mobile purging robot 31 and the top mobile purging robot 32 continue to purge the next area, and as the operation position changes, the butterfly valve of the corresponding dust collection port is sequentially opened and the rest of the butterfly valves are closed, so that the dust collection port works in a sequentially opened/closed mode until the whole train carriage is purged. According to the exhaust dust removal system, the energy consumption and the noise are reduced on one hand, and the dust removal energy can be focused on the operation hot spot on the other hand through sectional exhaust, so that dust is discharged in a directional manner according to a planned shortest path, and the dust removal effect is effectively improved.
Preferably, the AGV trolley in the bottom mobile purge robot 31 is opened and closed simultaneously with the lateral suction opening 41 and the bottom suction opening 42 in the same area through which the robot arm passes by the respective butterfly valves.
Further, the top moving purge robot 32 and the bottom moving purge robot 31 advance vertically in synchronization in the track longitudinal direction, and the top dust suction port 40, the side dust suction port 41, and the bottom dust suction port 42 in the same area where the AGV trolley and the robot arm pass are opened and closed in synchronization by respective butterfly valves. Alternatively, the top and bottom mobile purge robots 32 and 31 are independently advanced up and down in the rail longitudinal direction, and the top and lower side suction ports 41 and 42 are independently opened and closed from each other. The two bottom moving purge robots 31 can synchronously move in a symmetrical manner, and can purge from the head and the tail to the middle or from the middle to two ends respectively.
According to the electromagnetic guide single-side rail-based convection type intelligent purging system, the vehicle purging system is reasonably designed, the purging warehouse is reasonably arranged, the dust of the vehicle is rapidly and efficiently removed, the operation environment in the purging warehouse is improved, and the intelligentization of purging operation is realized. The invention adopts compressed air as a main power source for purging, two artificial intelligence purging mechanisms continuously purge from one end of a vehicle to the other end, and purge mainly at multiple angles in all directions aiming at a complex structure of the vehicle bottom. Dust, greasy dirt, rust and the like on the surface of equipment related to the bottom of the sweeper can be cleaned; the parts can be cleaned, and the requirements of the next appearance inspection and the parts installation are met; the exhaust dust removal system can clean and recycle dust and dirt generated after surface treatment in real time, meets the emission standard, and avoids secondary pollution to the environment.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (4)
1. A unilateral orbital convection type intelligent purging system is characterized in that: comprises an air supply system, a mobile sweeping system and an exhaust dust removal system;
the mobile purging system at least comprises a bottom mobile purging robot and at least one top mobile purging robot, wherein the bottom mobile purging robot walks on one side of a vehicle track of a columnar inspection pit of a rail transit vehicle purging workshop, and the top mobile purging robot walks on the top and roof areas of the rail transit vehicle purging workshop; the air supply system is connected with the top mobile purging robot and the bottom mobile purging robot through flexible pipelines respectively so as to provide high-pressure air for the two mobile purging robots;
the top mobile purging robot comprises a movable mechanism and an executing mechanism; the movable mechanism of the top movable purging robot comprises an inverted AGV trolley which is connected with a hanger at the top of a purging workshop through a fixed track; the actuating mechanism comprises a mechanical arm with multiple degrees of freedom;
the bottom mobile purging robot comprises a movable mechanism and an executing mechanism; the actuating mechanism comprises a multi-degree-of-freedom mechanical arm; the movable mechanism of the bottom movable purging robot comprises an electromagnetic guiding AGV trolley, and the electromagnetic guiding AGV trolley runs along an electromagnetic guiding metal cable preset at one side of a vehicle track of the inspection pit; the electromagnetic guidance metal cable is loaded with guidance frequency, and the electromagnetic guidance AGV trolley of the bottom mobile purging robot realizes guidance of the AGV through recognition of the guidance frequency; if the model and the grouping length of the vehicle to be purged are changed, the electromagnetic guide metal cable can expand or change the purging path through the change of the length and the direction;
the AGV trolley of the bottom mobile purging robot and the AGV trolley of the top mobile purging robot comprise a trolley body, a multi-degree-of-freedom mechanical arm is arranged on the trolley body and comprises a big arm and a small arm which are sequentially connected, a high-pressure air knife and an industrial camera, wherein the high-pressure air knife and the industrial camera are arranged at the front end of the small arm, and purging and image acquisition are carried out on vehicle components, the vehicle bottom, the vehicle side and the vehicle top;
the exhaust dust removal system is respectively connected to the operation areas of the top mobile purging robot and the bottom mobile purging robot through pipelines; the exhaust dust removing system comprises multi-section dust removing units which are longitudinally distributed and arranged along a vehicle rail at the bottom of the purging workshop, and are respectively positioned in an inspection pit at the bottom of the vehicle and the other side of the vehicle rail of the inspection pit opposite to the electromagnetic guided AGV; the exhaust dust removing system further comprises a multi-section dust removing unit and a longitudinally extending sealing block, wherein the multi-section dust removing unit and the longitudinally extending sealing block are longitudinally distributed and arranged along a vehicle track at the top of the purging workshop, and a purging closed space is respectively formed between the vehicle body and the ground and between the vehicle body and the hanging bracket; and is also provided with
The multi-section dust removing unit comprises a plurality of dust collecting openings, wherein the dust collecting openings comprise a top dust collecting opening positioned on a hanger at the top of a purging workshop, a lateral dust collecting opening positioned at the other side of a checking pit vehicle track opposite to the electromagnetic guiding AGV trolley and a bottom dust collecting opening positioned at the bottom of the checking pit; the dust collection ports are internally provided with multi-section butterfly valves which can be respectively and independently opened and closed, and the butterfly valves of the corresponding dust collection ports are opened and the butterfly valves of other areas are closed along with the movement of the bottom mobile purging robot and the top mobile purging robot;
the exhaust dust removing system also comprises a dust collector, an exhaust pipeline and a dust remover; the dust collector is arranged at the rear of the dust collection opening, and the dust remover is arranged outside a sweeping workshop of a rail transit vehicle and is communicated with the dust collection opening through the exhaust pipeline.
2. The single-sided track convection intelligent purging system as set forth in claim 1, wherein:
the air supply system comprises an air compressor, an air dryer, a main air cylinder pipeline, a pressure switch and a safety valve;
wherein the air compressor converts mechanical energy of the prime mover into gas pressure energy to provide compressed air;
the air dryer is used for removing harmful impurities including oil water, moisture and dust in the compressed air;
the main air cylinder is a pressure container for storing compressed air for vehicle purging;
the pressure switch is arranged in the main air cylinder pipeline and used for detecting the pressure of the main air cylinder and converting a total air pressure signal into a switch signal of the air compressor control circuit so as to control the start and stop of the air compressor;
the safety valve is used for automatically opening and closing according to working pressure to protect the safety of the air supply system.
3. The method of purging a single-sided rail convection intelligent purging system of claim 1, wherein:
the rail transit vehicle enters a purging area of a purging workshop;
the AGV trolley in the bottom mobile purging robot and the AGV trolley in the top mobile purging robot longitudinally walk along the vehicle track, and the mechanical arm performs multi-degree-of-freedom motion to purge the vehicle;
when the AGV trolley and the mechanical arm in the bottom mobile purging robot and the top mobile purging robot work to a certain area, the butterfly valve of the dust collection port of the area is opened under the control of the PLC, and the butterfly valves of other areas are closed; at the moment, negative pressure is generated after the dust collector works, dust-containing gas purged by the mechanical arm is sucked into the exhaust pipeline through the dust collection port, the gas carrying dust enters the dust remover outside the purging chamber through the exhaust pipeline, large-particle dust is filtered and collected through the air outlet and falls into the collecting container, and clean air is directly discharged from the air outlet, so that dust-free leakage is realized;
the AGV trolley and the mechanical arm in the bottom mobile purging robot and the top mobile purging robot continue to purge the next area, and as the operation position changes, the butterfly valve of the corresponding dust collection port is sequentially opened and the rest of butterfly valves are closed, so that the dust collection port works in a sequentially opened/closed mode until the whole carriage is purged.
4. A method of purging a single-sided track convection intelligent purging system as set forth in claim 3, wherein:
the AGV trolley in the bottom moving purging robot and the lateral dust collection opening and the bottom dust collection opening in the same area where the mechanical arm passes through are synchronously opened and closed through respective butterfly valves;
further, the top movable purging robot and the bottom movable purging robot synchronously advance up and down in the longitudinal direction of the track, and a top dust collection opening, a lateral dust collection opening and a bottom dust collection opening in the same area where the AGV trolley and the mechanical arm pass through are synchronously opened and closed through respective butterfly valves; or the top movable purging robot and the bottom movable purging robot independently advance up and down in the longitudinal direction of the track, and the top dust collection port, the lateral dust collection port below and the butterfly valve of the bottom dust collection port are mutually independently opened and closed.
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| CN113911075B (en) * | 2020-12-14 | 2023-09-26 | 中铁第四勘察设计院集团有限公司 | Sweeping system of side-blowing dust removing equipment of integrated vehicle bottom vehicle |
| CN113895404B (en) * | 2021-02-24 | 2023-06-20 | 中铁第四勘察设计院集团有限公司 | Purging method for vehicle bottom pollution identification |
| CN112937508A (en) * | 2021-04-13 | 2021-06-11 | 深圳优艾智嘉机器人科技有限公司 | Dust removal execution robot |
| CN116765070B (en) * | 2023-08-18 | 2023-11-07 | 成川科技(苏州)有限公司 | Purging vertical warehouse, vertical warehouse cleaning system and cleaning method thereof |
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